PA PANTHEON Precision Farming of Hazelnut Orchards Project ID: 774571 May 13°, 2018 Workshop on Small UAVs for Precision Agriculture, Monte Roberto, Italy – Andrea Gasparri 1
Modern Hazelnut Farming (MHF) • Well-structured orchards with a regular planting pattern • Regular layout allows the mechanization of many field operations • Typical Operations in MHF: • Irrigation • Pruning • Pest and Disease Control • Production Estimation ROMA Hazelnut Harvesting Process TRE (Source: FERRERO) UNIVERSITÀ DEGLI STUDI May 13°, 2018 Workshop on Small UAVs for Precision Agriculture, Monte Roberto, Italy – Andrea Gasparri 2
MHF – Observations • In current best practice decisions are made by 1. Dividing the large-scale orchards in sectors 2. Observing few representative plants per sector 3. Performing homogeneous treatments per sector • This may result in 1. Product waste (economic loss) 2. Avoidable pollution (environmental damage) ROMA Hazelnut Block in AgriChile TRE (Source: FERRERO) UNIVERSITÀ DEGLI STUDI May 13°, 2018 Workshop on Small UAVs for Precision Agriculture, Monte Roberto, Italy – Andrea Gasparri 3
PANTHEON Ambition • To Introduce a new paradigm for the management of large-scale hazelnut orchards • To achieve the resolution of a single plant in terms of 1. collecting information 2. performing (some) farming operations Large Hazelnut Orchard with a 5 x 3 planting pattern ROMA (Source: FERRERO) TRE UNIVERSITÀ DEGLI STUDI May 13°, 2018 Workshop on Small UAVs for Precision Agriculture, Monte Roberto, Italy – Andrea Gasparri 4
Impact Continuous monitoring will enable a prompt detection of per-plant limiting factors and trigger focused (automatic) interventions . 1. Increase of Production by improving the general phytosanitary state of the orchard 2. Environmental-Friendly Management by 1. Reducing waste of water 2. Decreasing the need of chemical inputs 3. Reduction of Human Burden by the automatization on large scale of tedious and repetitive operations ROMA 3D Hazelnut Wild Trees Reconstruction TRE (Source: TRIER) UNIVERSITÀ DEGLI STUDI May 13°, 2018 Workshop on Small UAVs for Precision Agriculture, Monte Roberto, Italy – Andrea Gasparri 5
Approach: An Agricultural SCADA • Unmanned aerial and ground robots move within an orchard to • collect data • perform farming operations • An IoT-based agro-meteorological network for environmental monitoring • A central operative unit integrates the collected data to • perform automatic feedback actions (e.g. regulate the irrigation system) • support the decisions of the agronomists Agricultural SCADA Concept ROMA (Source: ULB) TRE UNIVERSITÀ DEGLI STUDI May 13°, 2018 Workshop on Small UAVs for Precision Agriculture, Monte Roberto, Italy – Andrea Gasparri 6
PANTHEON – A pragmatic approach • Objectives identified in collaboration with agronomists of FERRERO • We focus (only) on: 1. Phytosanitary status estimation 2. Automatic irrigation regulation 3. Automatic suckers’ treatment 4. Improvement of pruning practices 05/07 02/08 30/08 06/09 5. Automatic estimation of the production Hazelnuts at different ripe stage (Source: UNITUS) ROMA TRE UNIVERSITÀ DEGLI STUDI May 13°, 2018 Workshop on Small UAVs for Precision Agriculture, Monte Roberto, Italy – Andrea Gasparri 7
UAV Main Activities • Data Collection for Agronomical Indicators: 1. Water Stress 2. Pest and Disease Detection 3. Fruit Detection • Typical approaches are based on Orthomosaic Techniques ROMA TRE UNIVERSITÀ DEGLI STUDI March 13°, 2018 Workshop on Small UAVs for Precision Agriculture, Monte Roberto, Italy – Andrea Gasparri 8
Orthomosaic Techniques Measuring process : • Cover the area of interest using a lawnmower pattern • Ensure overlap between pictures and in between bands Validation process : 1. Pictures correction 2. Band creation through matching 3. Bands alignment and orthomosaic ROMA TRE UNIVERSITÀ DEGLI STUDI May 13°, 2018 Workshop on Small UAVs for Precision Agriculture, Monte Roberto, Italy – Andrea Gasparri 9
Orthomosaic Techniques 100 m Orthomosaic characteristics : • Overlap>80% 50 m • Higher altitude worst resolution • Does not exploit localization accuracy • The coverage time highly depends on the amount of turns (bands) Resolution: 5cm Resolution: 2.5cm ROMA TRE UNIVERSITÀ DEGLI STUDI May 13°, 2018 Workshop on Small UAVs for Precision Agriculture, Monte Roberto, Italy – Andrea Gasparri 10
UAV Aircraft Model DJI Matrice 600 Pro • Design: Six-rotor flying platform • Applications: Professional aerial photography and industrial applications • Main Features: • RTK Localization Accuracy (~cm) • Triple IMU Accuracy for Flight Control ROMA TRE UNIVERSITÀ DEGLI STUDI March 13°, 2018 Workshop on Small UAVs for Precision Agriculture, Monte Roberto, Italy – Andrea Gasparri 11
UAV: Architecture Radio Communication On-board computer Ground computer (Trajectory Execution, Sensor Triggering, (Trajectory Planning, Data Collection) Ros Enabled) Multispectral Thermal RGB camera camera camera ROMA TRE UNIVERSITÀ DEGLI STUDI May 13°, 2018 Workshop on Small UAVs for Precision Agriculture, Monte Roberto, Italy – Andrea Gasparri 12
Multispectral camera • Model:Tetracam MCAW 6 • Features: Multi-spectral information on a pixel-by-pixel basis • Application: Compute vegetation spectral features to measure the photosynthesis activity of leaves such as production capability ROMA TRE UNIVERSITÀ DEGLI STUDI March 13°, 2018 Workshop on Small UAVs for Precision Agriculture, Monte Roberto, Italy – Andrea Gasparri 13
Thermal camera • Model: Teax ThermalCapture 2.0 640 • Features: Fully radiometric per pixel temperature data • Application: Measurement of the leaf temperature to detect possible water stress . ROMA TRE UNIVERSITÀ DEGLI STUDI March 13°, 2018 Workshop on Small UAVs for Precision Agriculture, Monte Roberto, Italy – Andrea Gasparri 14
RGB camera • Model: Sony α5100 • Features: 24.3 megapixel APS-C CMOS sensor • Application: Detect the main features of areas of interest such as tree precise location and macro- management . ROMA TRE UNIVERSITÀ DEGLI STUDI March 13°, 2018 Workshop on Small UAVs for Precision Agriculture, Monte Roberto, Italy – Andrea Gasparri 15
Bulding an Orthomosaic In Our Setting 62 m Setting Constraints : Thermal • High resolution required (~2.5cm/pixel) 54 m camera • Different FOVs (Field of view) 78 m • Low resolution thermal camera Multispectral 48 m camera Outcome: 70 m 3 different orthomosaics • RGB 44 m camera ROMA TRE UNIVERSITÀ DEGLI STUDI May 13°, 2018 Workshop on Small UAVs for Precision Agriculture, Monte Roberto, Italy – Andrea Gasparri 16
Building an Orthomosaic In Our Setting A classical approach implies altitude of less than 50 m to reach the demanded constraints: To map 10 hectares: • >2500 pictures = High amount of data • Unnecessary resolution and pictures for RGB camera • Excessive time (>1.5 hours) • Several flights required ( >6 flights) Necessity of new techniques ROMA TRE UNIVERSITÀ DEGLI STUDI May 13°, 2018 Workshop on Small UAVs for Precision Agriculture, Monte Roberto, Italy – Andrea Gasparri 17
A change of Perspective Observations : • UAV High Localization Accuracy • Regular disposition of the trees • Presence of non-interesting areas Objective: • Reduce Coverage Time Hazelnut plantation • Reduce Amount Data (Source: UNITUS) Regular pattern ROMA TRE UNIVERSITÀ DEGLI STUDI May 13°, 2018 Workshop on Small UAVs for Precision Agriculture, Monte Roberto, Italy – Andrea Gasparri 18
Research Challenges UAV High Localization Accuracy Idea: Reduce the picture overlap. Advantages: • Reduced coverage time by minimizing the number of bands; • Reduced amount of data by avoid oversampling ( up to 16 times with 80% 60% 80% overlap, 4 bands) ROMA TRE UNIVERSITÀ DEGLI STUDI May 13°, 2018 Workshop on Small UAVs for Precision Agriculture, Monte Roberto, Italy – Andrea Gasparri 19
Research Challenges Idea: Adaptive measurement strategies focused only on points of interests (trees). • Varying accuracy w.r.t. areas of interest; • No necessity of matching bands. Non-interesting area Non-interesting area Advantages: • Reduced coverage time by avoiding non-essential bands; • Reduced amount of data by only covering the necessary areas. ROMA TRE UNIVERSITÀ DEGLI STUDI May 13°, 2018 Workshop on Small UAVs for Precision Agriculture, Monte Roberto, Italy – Andrea Gasparri 20
Research Challenges Idea: Information-based Adaptive UAV trajectory planning using different altitude flights. • First high altitude flight for anomalies detection only. • Second less altitude flight at reduced speed to inspect specific areas of interest. First flight Advantages: • Reduced coverage time by increasing altitude (=less bands); • Reduced amount of data by chancing spatial resolution of the acquisition. ROMA Second flight TRE UNIVERSITÀ DEGLI STUDI May 13°, 2018 Workshop on Small UAVs for Precision Agriculture, Monte Roberto, Italy – Andrea Gasparri 21
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